Control Design for Cyberphysical Systems Using Slow Computing: Difference between revisions

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[[Image:slowncs-arch.png|right|400px]]
This project seeks to develop new, systematic methods for the design of
This project seeks to develop new, systematic methods for the design of
control systems that can work in the presence of slow computing
control systems that can work in the presence of slow computing
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substrate.  This project is supported by the National Science Foundation (NSF), award number 0931746.
substrate.  This project is supported by the National Science Foundation (NSF), award number 0931746.


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{| width=100%
{| width=100%
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* {{Andrea Censi}}
* {{Andrea Censi}}
* {{Shuo Han}}
* {{Shuo Han}}
| Past participants
* Javad Lavaei
* Javad Lavaei
* Somayeh Sojoudi
* Somayeh Sojoudi
* Andrew Straw
* Andrew Straw
| Past participants
|}
|}


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* Develop an ''architecture'' for control using slow computing
* Develop an ''architecture'' for control using slow computing
* Develop new theory and and tools for design of controller for cyberphysical systems that scale to slow computing
* Develop new theory and and tools for design of controller for cyberphysical systems that scale to slow computing
* Demonstrations of the our methodology on university scale experiments in micro-vehicles.
* Demonstrations of the methodology on university scale experiments in micro-vehicles.


== Publications ==
== Publications ==
* [http://www.cds.caltech.edu/~murray/papers/2011j_chm12-icra.html Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades], Andrea Censi, Magnus Håkansson and Richard M. Murray.  Submitted, 2012 International Conference on Robotics and Automation (ICRA).
* [http://www.cds.caltech.edu/~murray/papers/2011i_cm12-icra.html Learning diffeomorphism models of robotic sensorimotor cascades], Andrea Censi and Richard M. Murray.  Submitted, 2012 International Conference on Robotics and Automation.
* [http://www.cds.caltech.edu/~murray/papers/2011f_cm11-iros.html A group-theoretic approach to formalizing bootstrapping problems], Andrea Censi and Richard M. Murray.  2011 International Conference on Intelligent Robots and Systems (IROS).
* [http://www.cds.caltech.edu/~murray/papers/2011d_cm11-icdl.html Uncertain semantics, representation nuisances, and necessary invariance properties of bootstrapping agents], A. Censi and R. M. Murray.  IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL/EpiRob), 2011.
* [http://www.cds.caltech.edu/~murray/papers/2010o_cm11-icra.html Bootstrapping bilinear models of robotic sensorimotor cascades], Andrea Censi and Richard M. Murray.  2011 International Conference on Robotics and Automation (ICRA).
* {{hcsm10-iros}}
* {{hcsm10-iros}}
* {{lsm10-acc}}
* {{lsm10-acc}}
<!-- * {{hcsm10-icra}} -->
* {{chfm09-cdc}}
* {{chfm09-cdc}}
* {{hcsm09-icra}}


== Additional Information ==
== Additional Information ==
* [http://www.cds.caltech.edu/~murray/proposals/nsf09-cps.pdf Project proposal (Feb 2009)]
* [http://www.cds.caltech.edu/~murray/proposals/nsf09-cps.pdf Project proposal (Feb 2009)]
[[Category:Completed projects]]
{{#set: agency=NSF | end date = 2013}}

Latest revision as of 02:38, 26 November 2015

Slowncs-arch.png

This project seeks to develop new, systematic methods for the design of control systems that can work in the presence of slow computing elements. The development of such an architecture has the possibility of providing new ways of integrating control into systems where large amounts of fast computation are not easily available, either due to limitations on power, physical size or choice of computing substrate. This project is supported by the National Science Foundation (NSF), award number 0931746.


Current participants: Past participants
  • Javad Lavaei
  • Somayeh Sojoudi
  • Andrew Straw

Objectives

  • Develop an architecture for control using slow computing
  • Develop new theory and and tools for design of controller for cyberphysical systems that scale to slow computing
  • Demonstrations of the methodology on university scale experiments in micro-vehicles.

Publications

Additional Information